阅读说明：本技术 一种无人机专用定位系统 (Special positioning system for unmanned aerial vehicle ) 是由 陈彬彬 陈贵 于 2020-11-19 设计创作，主要内容包括：一种无人机专用定位系统,包括无人机、地面基站和定位基站；无人机、定位基站和地面基站互相通讯连接；无人机上设置有第一控制模块、第一信号传输模块、数据收集模块、定位模块、定位校正模块和存储模块；地面基站包括第二控制模块、第二信号传输模块、数据处理模块、报警模块、三维模型生成模块、人工定位模块和路线设定模块；定位基站包括第三控制模块、第三信号传输模块、请求接收单元、卫星导航电文接收模块、导航电文处理模块和GPS信号发射单元。本发明采用多种方式进行无人机定位,有效提高定位的准确性,并将火灾信息以三维模型的形式展现出来,帮助工作人员远程掌握火灾现场情况,保障了工作人员的生命安全,也提高了救援的效率和效果。(A special positioning system for an unmanned aerial vehicle comprises the unmanned aerial vehicle, a ground base station and a positioning base station; the unmanned aerial vehicle, the positioning base station and the ground base station are in communication connection with each other; the unmanned aerial vehicle is provided with a first control module, a first signal transmission module, a data collection module, a positioning correction module and a storage module; the ground base station comprises a second control module, a second signal transmission module, a data processing module, an alarm module, a three-dimensional model generation module, an artificial positioning module and a route setting module; the positioning base station comprises a third control module, a third signal transmission module, a request receiving unit, a satellite navigation message receiving module, a navigation message processing module and a GPS signal transmitting unit. The invention adopts various modes to position the unmanned aerial vehicle, effectively improves the positioning accuracy, displays the fire information in a three-dimensional model form, helps workers to remotely master the fire scene situation, ensures the life safety of the workers and also improves the rescue efficiency and effect.)

1. A special positioning system for an unmanned aerial vehicle is characterized by comprising the unmanned aerial vehicle, a ground base station and a positioning base station; the unmanned aerial vehicle, the positioning base station and the ground base station are in communication connection with each other through wireless signals;

the unmanned aerial vehicle is controlled by a ground base station and is used for rescuing in a fire scene in a deep forest, and a first control module, a first signal transmission module, a data collection module, a positioning correction module and a storage module are arranged on the unmanned aerial vehicle;

the ground base station is arranged in a central control room, is assigned tasks by workers and is operated, and comprises a second control module, a second signal transmission module, a data processing module, an alarm module, a three-dimensional model generation module, a manual positioning module and a route setting module;

the positioning base station corrects the positioning of the unmanned aerial vehicle by sending GPS signals to the unmanned aerial vehicle, and comprises a third control module, a third signal transmission module, a request receiving unit, a satellite navigation message receiving module, a navigation message processing module and a GPS signal transmitting unit.

2. The positioning system special for the unmanned aerial vehicle as claimed in claim 1, wherein the unmanned aerial vehicle collects flight route information and fire conditions through the data collection module during the task execution; the data collection module comprises a landform acquisition unit, a temperature measurement unit, a wind direction measurement unit and a fire behavior recording unit.

3. The positioning system special for the unmanned aerial vehicle as claimed in claim 1, wherein the unmanned aerial vehicle obtains real-time route information through the positioning module, and then compares the real-time route information with stored image and terrain information to perform primary positioning; the positioning module comprises a landform original data calling unit, a comparison and judgment unit and a positioning unit.

4. The positioning system special for the unmanned aerial vehicle as claimed in claim 1, wherein the unmanned aerial vehicle performs positioning correction based on the positioning base station to modify the flight path; the positioning correction module comprises a correction request unit, a GPS signal receiving unit, a comprehensive analysis unit and a positioning correction unit.

5. The positioning system special for the unmanned aerial vehicle as claimed in claim 1, wherein a worker obtains a real-time model of a fire scene through the three-dimensional model generating unit, and intuitively and quickly grasps a fire situation; the three-dimensional model generation module comprises a coordinate acquisition unit, an image acquisition unit and a three-dimensional model generation unit.

6. The special positioning system for unmanned aerial vehicles of claim 1, wherein the alarm module comprises an alarm unit and a monitoring unit; the monitoring unit finds that the unmanned aerial vehicle deviates from a set route, and when the positioning correction module fails, the alarm unit sends information to the staff, and the staff corrects the flight route of the unmanned aerial vehicle through the manual positioning module.

7. The special positioning system for unmanned aerial vehicle of claim 1, wherein the error range of the system positioning is 10-15 cm.

8. The positioning system special for unmanned aerial vehicle of any one of claims 1-7, wherein the system working method is as follows:

s1, the staff issues a routing inspection task in the central control room, and sets a routing inspection route;

s2, the unmanned aerial vehicle patrols according to the patrolling route;

s3, in the inspection process, the unmanned aerial vehicle compares the recorded real-time environment image and the topographic information with the stored information to make preliminary positioning;

s4, when a fire occurs, the unmanned aerial vehicle sends a positioning request to the positioning base station, and positioning correction is carried out according to GPS positioning information sent by the positioning base station to obtain accurate positioning coordinates;

s5, analyzing the collected landform, temperature, wind direction and fire data by the unmanned aerial vehicle, and transmitting the corrected coordinate information and the analysis result back to the ground base station;

s6, the ground base station establishes a three-dimensional model according to data transmitted by the unmanned aerial vehicle, and helps workers to master the fire scene situation in real time.

Technical Field

The invention relates to the field of forest fire rescue equipment, in particular to a special positioning system for an unmanned aerial vehicle.

Background

An unmanned aircraft, abbreviated as "drone", and abbreviated in english as "UAV", is an unmanned aircraft that is operated by a radio remote control device and a self-contained program control device, or is operated autonomously, either completely or intermittently, by an onboard computer. Drones tend to be more suitable for tasks that are too "fool, dirty, or dangerous" than are manned aircraft. Unmanned aerial vehicles can be classified into military and civil applications according to the application field. For military use, unmanned aerial vehicles divide into reconnaissance aircraft and target drone. In the civil aspect, the unmanned aerial vehicle + the industry application is really just needed by the unmanned aerial vehicle; at present, the unmanned aerial vehicle is applied to the fields of aerial photography, agriculture, plant protection, miniature self-timer, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, disaster relief, film and television shooting, romantic manufacturing and the like, the application of the unmanned aerial vehicle is greatly expanded, and developed countries actively expand industrial application and develop unmanned aerial vehicle technology.

In the forest fire rescue process, because the positioning error of the unmanned aerial vehicle is large, low positioning information is inaccurate, the expansion of rescue work is often delayed, and huge economic loss is caused.

In order to solve the problem, the application provides a special positioning system for unmanned aerial vehicles.

Disclosure of Invention

Objects of the invention

In order to solve the technical problems in the background art, the invention provides the positioning system special for the unmanned aerial vehicle, the positioning system adopts various modes to position the unmanned aerial vehicle, the positioning accuracy is effectively improved, the fire information is displayed in a three-dimensional model mode, the working personnel are helped to remotely master the fire scene situation, the life safety of the working personnel is guaranteed, and the rescue efficiency and effect are also improved.

(II) technical scheme

In order to solve the problems, the invention provides a special positioning system for an unmanned aerial vehicle, which comprises the unmanned aerial vehicle, a ground base station and a positioning base station; the unmanned aerial vehicle, the positioning base station and the ground base station are in communication connection with each other through wireless signals; the unmanned aerial vehicle is controlled by a ground base station and is used for rescuing in a fire scene in a deep forest, and a first control module, a first signal transmission module, a data collection module, a positioning correction module and a storage module are arranged on the unmanned aerial vehicle; the ground base station is arranged in a central control room, is assigned tasks by workers and is operated, and comprises a second control module, a second signal transmission module, a data processing module, an alarm module, a three-dimensional model generation module, a manual positioning module and a route setting module; the positioning base station corrects the positioning of the unmanned aerial vehicle by sending GPS signals to the unmanned aerial vehicle, and comprises a third control module, a third signal transmission module, a request receiving unit, a satellite navigation message receiving module, a navigation message processing module and a GPS signal transmitting unit.

Preferably, the unmanned aerial vehicle collects flight route information and fire conditions through the data collection module in the process of executing the task; the data collection module comprises a landform acquisition unit, a temperature measurement unit, a wind direction measurement unit and a fire behavior recording unit.

Preferably, the unmanned aerial vehicle obtains real-time route information through the positioning module, and then compares the real-time route information with stored images and topographic information to perform primary positioning; the positioning module comprises a landform original data calling unit, a comparison and judgment unit and a positioning unit.

Preferably, the unmanned aerial vehicle takes the positioning base station as a correction basis to perform positioning correction and modify the flight route; the positioning correction module comprises a correction request unit, a GPS signal receiving unit, a comprehensive analysis unit and a positioning correction unit.

Preferably, the staff obtains a real-time model of the fire scene through the three-dimensional model generating unit, and intuitively and quickly master the fire condition; the three-dimensional model generation module comprises a coordinate acquisition unit, an image acquisition unit and a three-dimensional model generation unit.

Preferably, the alarm module comprises an alarm unit and a monitoring unit; the monitoring unit finds that the unmanned aerial vehicle deviates from a set route, and when the positioning correction module fails, the alarm unit sends information to the staff, and the staff corrects the flight route of the unmanned aerial vehicle through the manual positioning module.

Preferably, the error range of the system positioning is 10-15 cm.

Preferably, the system working method comprises the following steps:

s1, the staff issues a routing inspection task in the central control room, and sets a routing inspection route;

s2, the unmanned aerial vehicle patrols according to the patrolling route;

s3, in the inspection process, the unmanned aerial vehicle compares the recorded real-time environment image and the topographic information with the stored information to make preliminary positioning;

s4, when a fire occurs, the unmanned aerial vehicle sends a positioning request to the positioning base station, and positioning correction is carried out according to GPS positioning information sent by the positioning base station to obtain accurate positioning coordinates;

s5, analyzing the collected landform, temperature, wind direction and fire data by the unmanned aerial vehicle, and transmitting the corrected coordinate information and the analysis result back to the ground base station;

s6, the ground base station establishes a three-dimensional model according to data transmitted by the unmanned aerial vehicle, and helps workers to master the fire scene situation in real time.

The technical scheme of the invention has the following beneficial technical effects:

according to the invention, the unmanned aerial vehicle, the positioning base station and the ground base station are mutually communicated and connected through wireless signals, and the unmanned aerial vehicle is positioned in various modes, so that the positioning accuracy is effectively improved, the fire information is displayed in a three-dimensional model form, the worker is helped to remotely master the fire scene situation, the life safety of the worker is ensured, and the rescue efficiency and effect are also improved.

Drawings

Fig. 1 is a schematic structural diagram of a positioning system dedicated for an unmanned aerial vehicle according to the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

As shown in fig. 1, the positioning system dedicated for the unmanned aerial vehicle provided by the invention comprises the unmanned aerial vehicle, a ground base station and a positioning base station; the unmanned aerial vehicle, the positioning base station and the ground base station are in communication connection with each other through wireless signals; the unmanned aerial vehicle is controlled by a ground base station and is used for rescuing in a fire scene in a deep forest, and a first control module, a first signal transmission module, a data collection module, a positioning correction module and a storage module are arranged on the unmanned aerial vehicle; the ground base station is arranged in a central control room, is assigned tasks by workers and is operated, and comprises a second control module, a second signal transmission module, a data processing module, an alarm module, a three-dimensional model generation module, a manual positioning module and a route setting module; the positioning base station corrects the positioning of the unmanned aerial vehicle by sending GPS signals to the unmanned aerial vehicle, and comprises a third control module, a third signal transmission module, a request receiving unit, a satellite navigation message receiving module, a navigation message processing module and a GPS signal transmitting unit.

In an optional embodiment, during the task execution process of the unmanned aerial vehicle, the flight route information and the fire condition are collected through the data collection module; the data collection module comprises a landform acquisition unit, a temperature measurement unit, a wind direction measurement unit and a fire behavior recording unit.

In an optional embodiment, the unmanned aerial vehicle obtains real-time route information through a positioning module, and then compares the real-time route information with stored images and topographic information to perform primary positioning; the positioning module comprises a landform original data calling unit, a comparison and judgment unit and a positioning unit.

In an optional embodiment, the unmanned aerial vehicle uses the positioning base station as a correction basis to perform positioning correction and modify a flight route; the positioning correction module comprises a correction request unit, a GPS signal receiving unit, a comprehensive analysis unit and a positioning correction unit.

In an optional embodiment, a worker obtains a real-time model of a fire scene through the three-dimensional model generation unit, and intuitively and quickly masters the fire condition; the three-dimensional model generation module comprises a coordinate acquisition unit, an image acquisition unit and a three-dimensional model generation unit.

In an alternative embodiment, the alarm module comprises an alarm unit and a monitoring unit; the monitoring unit finds that the unmanned aerial vehicle deviates from a set route, and when the positioning correction module fails, the alarm unit sends information to the staff, and the staff corrects the flight route of the unmanned aerial vehicle through the manual positioning module.

In an alternative embodiment, the system positioning error is in the range of 10-15 cm.

In an alternative embodiment, the system operates as follows:

s1, the staff issues a routing inspection task in the central control room, and sets a routing inspection route;

s2, the unmanned aerial vehicle patrols according to the patrolling route;

s3, in the inspection process, the unmanned aerial vehicle compares the recorded real-time environment image and the topographic information with the stored information to make preliminary positioning;

s4, when a fire occurs, the unmanned aerial vehicle sends a positioning request to the positioning base station, and positioning correction is carried out according to GPS positioning information sent by the positioning base station to obtain accurate positioning coordinates;

s5, analyzing the collected landform, temperature, wind direction and fire data by the unmanned aerial vehicle, and transmitting the corrected coordinate information and the analysis result back to the ground base station;

s6, the ground base station establishes a three-dimensional model according to data transmitted by the unmanned aerial vehicle, and helps workers to master the fire scene situation in real time.

According to the invention, the unmanned aerial vehicle, the positioning base station and the ground base station are mutually communicated and connected through wireless signals, and the unmanned aerial vehicle is positioned in various modes, so that the positioning accuracy is effectively improved, the fire information is displayed in a three-dimensional model form, the worker is helped to remotely master the fire scene situation, the life safety of the worker is ensured, and the rescue efficiency and effect are also improved.

It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.